| 摘要 |
Another aspect of the present invention will now be explained. The comb-filter repetitive controller design of the present invention effectively eliminates periodic disturbances of a known period in the position measurements of the disc drive servo system. This is accomplished by merging the averaging ability of the frequency-domain batch process approach into the time-efficient repetitive control approach. An embodiment of the present invention uses a comb-filter incorporated with a real-time repetitive controller based on the real-time filtering concept. This comb-filter design adds the ability of separating the RRO and NRRO component from the PES during the real-time WI-RRO compensation process. This approach at least minimizes the incapability of the real-time repetitive control approach to identify the RRO component beforehand. Because the RRO component can be extracted even under a noisy PES condition using the present invention, the learning gain can be increased. Thus, the RRO compensation performance can reach that of the repetitive control approach with even less time being consumed.
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